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The nice thing about the bootloader is that there is a CRC checksum built into the program, so that it will verify the software before turn on each time.
Hey Jack! That's interesting that it's oscillating like that on turn off. Some drivers that are dedicated to IGBTs actually set the gate to like -10v or something like that when turning it off. Mosfets I think don't much like that, but IGBTs don't mind. You could also try the "diode in series with the gate resistor" in parallel with the other gate resistor to speed up turn off. I'm mostly just worried about that LEM.
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